Robbie Williams, the Rolling Stones and Queen were inducted into the UK's first music Hall of Fame at a ceremony in London on Thursday.

One act has been chosen by TV viewers of a Channel 4 programme to represent each decade since the 1950s.

Williams represents the 1990s, Michael Jackson the 1980s, Queen the 1970s, the Rolling Stones the 1960s, while Cliff Richard represents the 1950s.

Bono of U2 and Madonna were at the ceremony to pick up honorary awards.

Madonna said the award "meant a lot" to her

Madonna was given her award by artist Tracey Emin and BBC Radio 1 DJ Jo Whiley, who called her a woman with "bigger balls than any man I have ever met".

Actress Gwyneth Paltrow and designer Stella McCartney put together a video tribute to the 46-year-old performer which saw them wear some of her most famous outfits.

Paltrow wore a gold conical bodice and had her hair scooped to the top of her head, while McCartney donned a raspberry pink dress.

The pair sat on a bed with bare-chested men perched at the end, with Paltrow saying: "She's made it okay to be sexual as a woman."

Gwyneth Paltrow and Stella McCartney made a video tribute

McCartney added: "You look a lot better in this than we do."

Madonna told the crowd at the Hackney Empire: "It means a lot to me that so many nice things have been said about me and that I have been voted into the UK Hall of Fame."

Robbie Williams gave a debut performance of his new single Misunderstood after winning the popular vote to represent the 1990s, while Rolling Stones guitarist Ronnie Wood picked up his band's prize for coming top of the 1960s poll.

Ronnie Wood (with wife Jo) accepted the Rolling Stones' award

The 57-year-old - who did not join the Stones until 1975 - joked: "I wasn't even there in the 1960s as you all know. But I'm here now."

Nobody was available to pick up the viewers' prize for Michael Jackson, who is due to stand trial in California on child abuse charges in January.

Along with Madonna and US, honorary membership of the Hall of Fame was also given to Bob Marley, Elvis Presley, U2 and the Beatles.

I hate the idea of being in the UK Hall of Fame - we don't want to be in any Hall of Fame until we're retired or dead

Bono

The honorary members were chosen by a panel including Sir George Martin, Trevor Nelson and Paul Gambaccini, while the popular vote was conducted as part of a Channel 4 series.

Picking up U2's prize from film-maker Dennis Hopper, Bono said: "If anybody wants to know why I'm not playing at the Holiday Inn near Heathrow, the answer is simply that I'm not a solo singer, I'm in U2."

But later, he told Reuters Television: "I really didn't want to come.

"Only respect for the people who were running the show has me here. I hate the idea of being in the UK Hall of Fame to be honest with you. We don't want to be in any Hall of Fame until we're retired or dead."